Matias Manevi
4086261714
Co-authored-by: Matija Kecman <matijak@google.com> Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar> Co-authored-by: Kyle Bayes <kylebayes@google.com> PiperOrigin-RevId: 826479070 Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
116 lines
3.7 KiB
Python
116 lines
3.7 KiB
Python
# Copyright 2025 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Builds WASM bindings for MuJoCo."""
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from introspect import enums as introspect_enums
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from introspect import functions as introspect_functions
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from wasm.codegen.generators import enums
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from wasm.codegen.generators import functions
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from wasm.codegen.generators import structs
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from wasm.codegen.helpers import common
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from wasm.codegen.helpers import constants as _constants
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from wasm.codegen.helpers import function_utils
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class BindingBuilder:
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"""Builds WASM bindings for MuJoCo."""
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def __init__(
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self,
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template_path_h: str,
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template_path_cc: str,
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generated_path_h: str,
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generated_path_cc: str,
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):
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self.generated_path_h = generated_path_h
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self.generated_path_cc = generated_path_cc
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with open(template_path_h, "r") as f:
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self.content_h = f.readlines()
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with open(template_path_cc, "r") as f:
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self.content_cc = f.readlines()
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filtered_functions = {
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name: func
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for name, func in introspect_functions.FUNCTIONS.items()
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if not function_utils.is_excluded_function_name(name)
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and name not in _constants.BOUNDCHECK_FUNCS
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}
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self.enums_generator = enums.Generator(introspect_enums.ENUMS)
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self.functions_generator = functions.Generator(filtered_functions)
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self.structs_generator = structs.Generator()
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def set_enums(self):
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"""Generates and sets the enum bindings."""
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enum_bindings = self.enums_generator.generate()
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self.content_cc = common.replace_lines_containing_marker(
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self.content_cc,
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"// {{ ENUM_BINDINGS }}",
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enum_bindings,
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)
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return self
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def set_headers(self):
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"""Generates and sets the struct definitions."""
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struct_hdr_markers_and_content = self.structs_generator.generate_header()
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for marker, content in struct_hdr_markers_and_content:
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self.content_h = common.replace_lines_containing_marker(
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self.content_h, marker, content
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)
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return self
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def set_structs(self):
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"""Generates and sets the struct bindings."""
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struct_src_markers_and_content = (
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self.structs_generator.generate_source()
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)
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for marker, content in struct_src_markers_and_content:
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self.content_cc = common.replace_lines_containing_marker(
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self.content_cc, marker, content
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)
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return self
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def set_functions(self):
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"""Generates and sets the function wrappers and bindings."""
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wrapper_functions, function_bindings = (
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self.functions_generator.generate()
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)
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self.content_cc = common.replace_lines_containing_marker(
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self.content_cc,
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"// {{ WRAPPER_FUNCTIONS }}",
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wrapper_functions,
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)
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self.content_cc = common.replace_lines_containing_marker(
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self.content_cc,
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"// {{ FUNCTION_BINDINGS }}",
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function_bindings,
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)
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return self
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def build(self):
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"""Writes the generated content to the output files."""
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common.write_to_file(self.generated_path_h, "".join(self.content_h))
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common.write_to_file(self.generated_path_cc, "".join(self.content_cc))
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def to_string_header(self) -> str:
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return "".join(self.content_h)
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def to_string_source(self) -> str:
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return "".join(self.content_cc)
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